Human Assistance and Augmentation with Wearable Soft Robotics: a Literature Review and Perspectives
Human Assistance and Augmentation with Wearable Soft Robotics: a Literature Review and Perspectives
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DOI：
10.1007/s43154-021-00067-0
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发表时间：
2021-12
期刊：
影响因子：
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通讯作者：
Emiliano Quiñones Yumbla;Zhi Qiao;Weijia Tao;Wenlong Zhang
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文献类型：
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作者：
Emiliano Quiñones Yumbla;Zhi Qiao;Weijia Tao;Wenlong Zhang
可穿戴软机器人在人类辅助和增强方面表现出许多独特的能力。本文讨论了最近的趋势和剩余的挑战，在设计软执行器，软传感器和控制器的可穿戴软robots.Recent FindingsDifferent驱动机制可穿戴系统进行了研究。我们包括软传感器的设计和传感器融合算法的概要，并讨论了最近的趋势感测同时变形和实现机器学习技术的软传感器融合。我们还提出了分层控制器的设计和评估指标与健康和受损subjects.SummaryWe审查三种常用的软驱动机制，并提供他们的特点，在材料刚度和功能之间的平衡仍然是一个挑战的实验讨论。本文介绍了软测量技术的发展，讨论了可穿戴软测量融合算法面临的挑战，如主体间适应性和传感器位置移动。我们还讨论了基于模型和无模型的控制器设计与健康和受损用户的评估标准，其中自主操作的个性化援助仍然是一个开放的挑战控制器设计。
Purpose of ReviewWearable soft robotics has demonstrated many unique capabilities in human assistance and augmentation. This paper discusses the recent trends and remaining challenges in designing soft actuators, soft sensors, and controllers for wearable soft robots.Recent FindingsDifferent actuation mechanisms for wearable systems were investigated in this review. We include a synopsis on the design of soft sensors and algorithms for sensor fusion and discuss the recent trends for sensing simultaneous deformations and implementing machine learning techniques for soft sensor fusion. We also present a discussion on layered controller design and the evaluation metrics for experiments with healthy and impaired subjects.SummaryWe review three commonly used soft actuation mechanisms and provide their characteristics, in which the balance between material stiffness and functionality is still a challenge. We present the advances in soft sensor design and discuss the challenges in fusion algorithms for wearable soft sensors, such as inter-subject adaptability and sensor location movement. We also discuss the model-based and model-free controller design together with the evaluation criteria for healthy and impaired users, in which autonomous operation for personalized assistance is still an open challenge for controller design.